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Saetak:
Unutranje dinamike sile i pomeranja po predvienim stepenima
slobode u planetarnim prenosnicima posledica su, prvenstveno, promenljivih elastinih deformacija zubaca u sprezi, vibracija delova prenosnika i
odstupanja geometrije ozubljenja usled habanja zubaca i greaka izrade.
U radu se razmatra uticaj vremenski promenljive sprene krutosti na
mogua pomeranja i sile u kontaktima zubaca. Funkcije promene krutosti
su koriene kao nelinearni koeficijenti krutosti u sistemu jednaina za
ekvivalentni zupani prenosnik pri utvrivanju prirode pomeranja i unutranjih dinamikih sila. Rezultati numerike analize sistema jednaina kojima je opisano dinamiko ponaanje su vremenski promenljive funkcije
pomeranja taaka sistema i dinamikih sila u spregama zubaca centralni
zupanik/satelit i satelit/venanik.
Kljune rei: planetarni prenosnici, dinamike sile, sprena krutost, pomeranje, vibracije.
Uvod
beregvojoi@yahoo.com
58
Mehaniko-matematiki model
Za analizu dinamikog ponaanja planetarnog prenosnika treba, prvo, definisati dinamiki model prenosnika. Kod veine autora koji su se
bavili ovim problemom dinamiki model je dat kao na slici 1. Meutim, u
ovom modelu se ne vidi veza prenosnika sa pogonskim i radnim delom
koji imaju uticaj na dinamiku. Zato je za analizu dinamikih optereenja u
planetarnom setu posmatran ukupan zupani prenosni sistem (slika 2).
Taj sistem obuhvata izvor snage (pogon), optereenje od radne maine,
prenosnik, vratila i ostale izvore priguenja.
Da se eliminie uticaj brzine nosaa satelita na dinamike karakteristike spojeva kao i nepoznata priguenja i krutosti nosaa satelita kod
postavljanja mehanikog modela prenosnog sistema uzet je za razmatranje ekvivalentni zupasti prenosnik (sl. 3). Ekvivalentni zupani prenosnik
je dobijen iskljuivanjem nosaa satelita i dodavanjem brzina svim elementima realnog sistema (sl. 1), tako da na ekvivalentnom prenosniku
sve komponente rotiraju oko njihovih vlastitih osa sopstvenim brzinama.
Uticaj inercije nosaa satelita na dinamika optereenja izraen je pripisivanjem ekvivalentnog momenta inercije centralnom zupaniku s unutranjim ozubljenjem (August, Kasuba, 1986) koji u ekvivalentnom sistemu
postaje izlazni element, a odreuje se izrazom
) (
J r = J c + 3 J pz + mc + 3 m pz rbr2 .
(1)
59
Batini, V., Dinamiki odziv planetarnog prenosnika na sprenu parametarsku pobudu, pp. 5868
Opisivanje dinamikog ponaanja sistema ukljuuje predvianje, izmeu ostalog, pomeranja po stepenima slobode i sila u kontaktima zubaca. Nivo i karakter pomeranja i sila u zahvatima zubaca u spojevima centralni sunani zupanik/satelit i satelit/venanik razmatran je u radovima
(August, Kasuba, 1986), (August, Evans, 1981), (Lin, Parker, 2002),
(Kasuba, August, 1984), (Kahraman, 1994), (Ognjanovi, 1985) na matematikom modelu koji ukljuuje vremenske promene sprenih krutosti
modelirane kao pravougaoni oblici signala sa razliitim stepenima sprezanja. Ovakve promene sprenih krutosti su gruba aproksimacija stvarnih
promena sprene krutosti kojima se parametarski pobuuje sistem.
Cilj rada je uspostavljanje takvog dinamikomatematikog modela
planetarnog prenosnika koji moe predvideti pomeranja taaka sistema i
dinamike sile u kontaktima zubaca zupanika i pomoi projektantima u
konstrukciji boljih prenosnika.
Promene sprenih krutosti zavisne od promene broja pari zubaca u
kontaktu, od odstupanja oblika zubaca i razradnog habanja ugraene su
u dinamiki model planetarnog prenosnika prikazan u ovom radu.
60
2.0x10 8
1.8x10 8
1.6x10 8
1.4x10 8
1.2x10 8
0.000
0.005
0.010
0.015
Ciklus promene krutosti spoja (S/P)1 [s]
6.5x108
6.0x108
5.5x108
5.0x108
4.5x108
4.0x108
3.5x108
3.0x108
0.00
0.01
0.02
0.03
Ciklus promene krutosti spoja (P/R)1 [s]
0.04
61
Batini, V., Dinamiki odziv planetarnog prenosnika na sprenu parametarsku pobudu, pp. 5868
Ekvivalentno priguenje u spojevima S/P i P/R zano je sa sopstvenim bliskim masama i krutostima pomou bezdimenzionalnog koeficijenta
priguenja G i odreuje se izrazima (August, Kasuba, 1986):
bsi = 2xG
csi
1
1
+
ms m pz
i bri = 2xG
cri
1
1
+
mr m pz
(2)
(3)
(4)
( i- 1)2
ms
xs + b f xs + c f xs + Fdsi cos - s = 0 ,
3
i=1
( i- 1)2
ms
ys + b f y s + c f ys + Fdsi sin - s = 0 .
3
i=1
62
(5)
(6)
(7)
Satelit i-ti
J pz pzi + bpzi pzi + rbpzi Fdsi - rbpzi Fdri = 0 , i = 1,n .
(8)
J r
yr + blr r + biv ( r - i ) + civ ( r - i ) + rbri Fdri = 0 .
i=1
(9)
Radna maina
J rm i + bli i + biv ( i - r ) + civ ( i - r ) = Ti ,
(10)
Fd dinamika sila,
ugaone brzine,
m masa,
rb polupr. baznog kruga,
k s krutost oslonca sunanog zupanika,
pz satelitski zupanik,
G koef. priguenja u spoju,
b priguenje,
r venanik,
xs ,ys pomeranje sunanog zupanika,
63
Batini, V., Dinamiki odziv planetarnog prenosnika na sprenu parametarsku pobudu, pp. 5868
l leaj,
bv priguenje vratila,
p pogonski agregat,
u ulaz,
i izlaz,
rm radna maina,
v vratilo,
n broj satelita,
S/P spoj sunani zupanik/satelit i
P/R spoj satelit/venanik.
(11)
csi rbs s - rbpzi pzi + xs cosai + ys sinai ,
kada je rbg g
bp
Numerika analiza
Numerika analiza ovog problema uraena je za konkretnu konstrukciju planetarnog prenosnika sa sledeim parametrima
Tu = 470 Nm , zs = 18 , z p = 43 , zr = 102 zupca, m = 2.5 , s = 22.5 D ,
ms = 2.6 kg , mc = 2.6 kg , m p = 2.85 kg , mr = 24.3 kg , J s = 0.001 kgm 2 ,
J r m = 2.2 kgm 2 , J p1 = J p2 = J p3 = 0.0029 kgm 2 , J r = 0175
.
kgm 2 ,
J p = 0.56 kgm 2 , c pv = 105 Nm , civ = 105 Nm , c f = 1.75 1010 N / m ,
rad
S /P
= 1.64 , a
P /R
rad
= 2.
64
2.0x10
-8
0.0
-2.0x10
-8
-4.0x10
-8
-6.0x10
-8
8.0x10
-8
6.0x10
-8
4.0x10
-8
2.0x10
-8
0.0
-2.0x10
-8
-4.0x10
-8
-8
0.000
0.002
0.004
0.006
-6.0x10
0.000
0.008
0.002
0.004
0.006
0.008
Vreme (s)
Vreme (s)
-8
s1 (rad)
4.0x10
-8
2.0x10
0.0
-8
-2.0x10
-8
-4.0x10
-8
-6.0x10
-8
-8
-8
0.0
-8
-8
-8
-8
0.0007
0.0006
0.0005
0.0004
0.0003
0.0002
0.0001
0.0000
0.000
0.002
0.0
-5
-5.0x10
-4
-1.0x10
-4
-1.5x10
0.002
0.004
0.006
0.006
0.008
0.000
0.004
Vreme (s)
0.008
Vreme (s)
1.0x10
-4
5.0x10
-5
0.0
-5.0x10
-5
-1.0x10
-4
0.000
0.002
0.004
0.006
0.008
Vreme (s)
65
Batini, V., Dinamiki odziv planetarnog prenosnika na sprenu parametarsku pobudu, pp. 5868
-8
4.0x10
Fds1
4000
Dinamicke sile [N]
5000
[ S/P ]
3000
2000
[ P/R ]
1000
0
Fdr1
0.005
0.006
0.007
Period T [s]
0.008
0.009
Zakljuak
Razvijen je model za simulaciju dinamikog ponaanja jednostepenog planetarnog prenosnika sa zupanicima sa pravim zupcima. Periodine funkcije pobude upotrebljene su kao vektori saglasno sprenoj krutosti i parametrima statikih greaka prenosa koje su pretpostavljene kao
poznate iz statiko-elastine analize.
Rezultati prorauna su vremenske funkcije promene pomeranja taaka sistema po stepenima slobode i sila u spojevima S/P i P/R. Dobijeni
rezultati u brojnom primeru daju osnovu da se zakljui:
Sile u spojevima S/P i P/R planetarnog seta nisu konstantne ve
zavise od elastinih deformacija zubaca u sprezi krutosti sprege i imaju
oscilatorni karakter,
Sila u spoju sunani zupanik/satelit je veeg intenziteta u odnosu
na silu u kontaktu satelit/venani zupanik to je i realno s obzirom na stepene sprezanja parova zupanika,
Pomeranja sunanog zupanika daju mogunost predvianja dinamikih sila u leaju.
Literatura
August, R., Kasuba, R., 1986, Torsional Vibrations and Dynamic Loads in a
Basic Planetary Gear System, ASME Journal of Vibration, Acoustics, Stress,
and Reliability in Design, Vol. 108, pp. 348353.
August, R., Evans, J. W., 1981, An Extended Model for Determining
Dynamic Loads in Spur Gearing, ASME Journal of Mechanical Design, Vol. 103,
No. 2, pp. 398409.
66
Summary:
Internal dynamic forces and displacements along the anticipated
degrees of freedom in planetary gear trains are a consequence of
coupled teeth elastic deformations, vibrations of train parts and changes in gear geometries due to tooth wear and cutting errors.
This paper considers the influence of time-varying mesh stiffness
on possible displacements and forces in tooth contacts. The timevarying mesh stiffness functions were useful as nonlinear coefficients
of gear mesh stiffness in a system of differential equations for an equivalent gear train model in the determination of the nature of displacements and internal dynamic forces. The results of the numerical
analysis of differential equations describing dynamic behaviour are time-varying functions of displacements of system points and dynamic
forces in tooth meshes of the sun-planet and ring-planet meshes.
Introduction
Describing the dynamic behavior of a system includes, among other
things, predicting the movement provided by the degrees of freedom and
forces in the contact of gear teeth. The level and the character of the displacements and the forces in the sun gear/planet and planer/ring meshes were
discussed in papers (August, Kasuba, 1986), (August, Evans, 1981), (Lin,
Parker, 2002), (Kasuba, August, 1984), (Kahraman, 1994), (Ognjanovi,
1985) on a mechanical-mathematical model that includes time-varying
mesh stiffness values modeled as rectangular waveforms with different contact ratios. Such changes of mesh stiffness values are a rough approximation of actual changes that parametrically excite the system.
Changes in mesh stiffness dependent on the changes in the number of pairs of teeth in contact, on the tolerances in shape and on tooth
67
Batini, V., Dinamiki odziv planetarnog prenosnika na sprenu parametarsku pobudu, pp. 5868
Batini, V., 2001, Unutranje dinamike sile planetarnih prenosnika, Naunotehniki pregled, vol. LI, br. 3, pp.4348, Beograd.
Lin, J., Parker, R. G., 2002, Planetary gear parametric instability Caused by
mesh stiffness variation, Journal of Sound and Vibration 249(1), pp. 129145.
Kasuba, R., August, R., 1984, Gear Mesh Stiffness and Load Sharing in
Planetary Gearing, Fourth ASME International Power Transmission Conference,
ASME PAPER 84DET229, 6 p., Cambridge, MA, Oct. 1012.
Kahraman, A., 1994, Planetary gear train dynamics, Transactions of the
American Society of Mechanical Engineers, Journal of Mechanical Design, Vol. 116,
pp. 713720.
Ognjanovi, M., 1985, Uzajamne zavisnosti odstupanja mera, vibracije i uma zupastih prenosnika, I deo, Mainstvo, No. 34, pp. 11831190, Beograd.
wear are incorporated into the dynamic model of the planetary gear
shown in this paper.
Mechanical-mathematical Model
To analyze the dynamic behavior of a planetary gear a dynamic
model of transmission should be defined first. Most authors who have
dealt with this problem give the dynamic model as in Fig. 1. However, this
model cannot show the connection with the drive gear and a working part
having an impact on dynamics. Therefore, for the analysis of dynamic
loads in the planetary gear, the complete transmission system (Fig. 2) was
observed. This system includes a power source (plant), the load of
machinery, gears, shafts and other damping sources. To eliminate the
influence of the planet carrier on the dynamic characteristics of the meshes, an equivalent gear carrier was taken into consideration during the installation of a transmission system mechanical model. (Fig. 3).
The dynamics of the system is described by the differential
equations from 4 to 10.
Numerical Analysis
The numerical analysis of this problem was done for a real planetary gear structure.
Conclusion
A model to simulate the dynamic behavior of single-stage planetary gears with straight-teeth gears is developed in this paper. Periodic
excitation functions were used as vectors in accordance with the mesh
stiffness and the parameters of static transmission errors assumed as
known from the static-elastic analysis.
The calculation results are the functions of time changes of the
system points displacements along the degrees of freedom and the
forces in the S/P and P/R meshes.
The results obtained in the numerical example provide a basis for
the following conclusions:
Forces in the S/P and P/R planetary set meshes are not
constant but dependent on the elastic deformation of teeth of meshmesh stiffness and have an oscillatory character,
Force in the S/P mesh is more intense than the force in the P/R
mesh, which is realistic given the contact ratio of meshing gears,
Sun gear displacement gives the ability to predict the dynamic
force in the bearing.
Key words: planetary gear train, dynamic forces, mesh stiffness, displacement, vibrations.
Datum prijema lanka/Paper received on: 15. 05. 2012.
Datum dostavljanja ispravki rukopisa/ Manuscript corrections
submitted on: 31. 05. 2012.
Datum konanog prihvatanja lanka za objavljivanje/ Paper accepted
for publishing on: 02. 06. 2012.
68